/**
* Registers topic with QoS for test cases
*
* @param name topic name
* @param typeName type for topic
* @param reliable reliable (true) or best effort (false) QoS
* @return DDS topic object
* @throws IOException
*/
public Topic registerTopic(final String name, final String typeName, final boolean reliable)
throws IOException {
TopicQos reliableTopicQos = new TopicQos();
participant.get_default_topic_qos(reliableTopicQos);
if (reliable) {
reliableTopicQos.reliability.kind = ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
} else {
reliableTopicQos.reliability.kind = ReliabilityQosPolicyKind.BEST_EFFORT_RELIABILITY_QOS;
}
reliableTopicQos.history.kind = HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;
reliableTopicQos.resource_limits.max_samples = 50000;
reliableTopicQos.durability.kind = DurabilityQosPolicyKind.VOLATILE_DURABILITY_QOS;
participant.set_default_topic_qos(reliableTopicQos);
Topic topic =
participant.create_topic(
name, typeName, reliableTopicQos, null, StatusKind.STATUS_MASK_NONE);
if (topic == null) {
throw new IOException("Could not create Topic");
}
return topic;
}
/**
* Create publisher using default QoS
*
* @return DDS publisher
* @throws IOException
*/
public Publisher createPublisher() throws IOException {
final Publisher publisher =
participant.create_publisher(
DomainParticipant.PUBLISHER_QOS_DEFAULT, null, StatusKind.STATUS_MASK_NONE);
if (publisher == null) {
throw new IOException("Could not create Publisher");
}
return publisher;
}
/**
* Create subscriber with default QoS
*
* @return DDS Subscriber
* @throws IOException
*/
public Subscriber createSubscriber() throws IOException {
final Subscriber subscriber =
participant.create_subscriber(
DomainParticipant.SUBSCRIBER_QOS_DEFAULT, null, StatusKind.STATUS_MASK_NONE);
if (subscriber == null) {
throw new IOException("Could not create Subscriber");
}
return subscriber;
}
/**
* Create abstract data writer and check for errors
*
* @param publisher Publisher to build data writer from
* @param topic Topic to write to
* @return DDS DataWriter
* @throws IOException
*/
public DataWriter createWriter(final Publisher publisher, final Topic topic) throws IOException {
DataWriterQos dataWriterQos;
if (System.getProperty("dds.batch") != null) {
int batchMicros = Integer.parseInt(System.getProperty("dds.batch"));
dataWriterQos = new DataWriterQos();
participant.get_default_datawriter_qos(dataWriterQos);
dataWriterQos.batch.enable = true;
dataWriterQos.batch.max_flush_delay.sec = 0; // = new Duration_t(0, 5000000);
dataWriterQos.batch.max_flush_delay.nanosec = batchMicros * 1000;
if (System.getProperty("dds.batch.data") != null) {
dataWriterQos.batch.max_data_bytes = Integer.parseInt(System.getProperty("dds.batch.data"));
}
if (System.getProperty("dds.batch.samples") != null) {
dataWriterQos.batch.max_samples = Integer.parseInt(System.getProperty("dds.batch.samples"));
}
dataWriterQos.history.kind = HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;
System.err.println("Flush delay: " + dataWriterQos.batch.max_flush_delay);
} else {
dataWriterQos = Publisher.DATAWRITER_QOS_USE_TOPIC_QOS;
}
final DataWriter parentWriter =
publisher.create_datawriter(topic, dataWriterQos, null, StatusKind.STATUS_MASK_NONE);
if (parentWriter == null) {
throw new IOException("Could not create DataWriter");
}
return parentWriter;
}
/** Delete all entities, letting peers know you are disconnecting */
public void shutdown() {
participant.delete_contained_entities();
}
private static void subscriberMain(int domainId, int sampleCount) {
DomainParticipant participant = null;
Subscriber subscriber = null;
Topic topic = null;
DataReaderListener listener = null;
DoubleArrayDataDataReader reader = null;
try {
// --- Create participant --- //
/* To customize participant QoS, use
the configuration file
USER_QOS_PROFILES.xml */
participant =
DomainParticipantFactory.TheParticipantFactory.create_participant(
domainId,
DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
null /* listener */,
StatusKind.STATUS_MASK_NONE);
if (participant == null) {
System.err.println("create_participant error\n");
return;
}
// --- Create subscriber --- //
/* To customize subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
subscriber =
participant.create_subscriber(
DomainParticipant.SUBSCRIBER_QOS_DEFAULT,
null /* listener */,
StatusKind.STATUS_MASK_NONE);
if (subscriber == null) {
System.err.println("create_subscriber error\n");
return;
}
// --- Create topic --- //
/* Register type before creating topic */
String typeName = DoubleArrayDataTypeSupport.get_type_name();
DoubleArrayDataTypeSupport.register_type(participant, typeName);
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
topic =
participant.create_topic(
"Example DoubleArrayData",
typeName,
DomainParticipant.TOPIC_QOS_DEFAULT,
null /* listener */,
StatusKind.STATUS_MASK_NONE);
if (topic == null) {
System.err.println("create_topic error\n");
return;
}
// --- Create reader --- //
listener = new DoubleArrayDataListener();
/* To customize data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
reader =
(DoubleArrayDataDataReader)
subscriber.create_datareader(
topic, Subscriber.DATAREADER_QOS_DEFAULT, listener, StatusKind.STATUS_MASK_ALL);
if (reader == null) {
System.err.println("create_datareader error\n");
return;
}
// --- Wait for data --- //
final long receivePeriodSec = 4;
for (int count = 0; (sampleCount == 0) || (count < sampleCount); ++count) {
System.out.println(
"DoubleArrayData subscriber sleeping for " + receivePeriodSec + " sec...");
try {
Thread.sleep(receivePeriodSec * 1000); // in millisec
} catch (InterruptedException ix) {
System.err.println("INTERRUPTED");
break;
}
}
} finally {
// --- Shutdown --- //
if (participant != null) {
participant.delete_contained_entities();
DomainParticipantFactory.TheParticipantFactory.delete_participant(participant);
}
/* RTI Data Distribution Service provides the finalize_instance()
method for users who want to release memory used by the
participant factory singleton. Uncomment the following block of
code for clean destruction of the participant factory
singleton. */
// DomainParticipantFactory.finalize_instance();
}
}
